User Manual MP77E - Physik Instrumente
Contents
1. not executed if the mechanics has not been referenced ERR replies 5 see controller and software manuals Reference the axis as described in the controller and user manuals Wrong axis commanded m Check if commanded axis is that of the desired positioner M 238 MP 77E Release 1 0 0 Page 15 Troubleshooting Piezo Nano Positioning PI WWW pi ws Incorrect configuration m Check for anomolous parameter settings on the controller Positioner does not reach position with expected accuracy Motion parameters are not optimized m Adjust the motion parameters according to the values given in this document Positioner runs jerkily and not smooth enough Motion parameters are not optimized m Adjust the motion parameters according to the values listed in this document Positioner did not stop in time and ran into a hard stop The controller did not stop the positioner in time m Too high velocity See also chapter Limit Switches m Turn off the motor If possible you may push the positioner out of the end zone manually M 238 MP 77E Release 1 0 0 Page 16 Troubleshooting Piezo Nano Positioning PI 4 2 Customer Service Still having problems Call your local distributor or write to info pi ws please have the following information about your system ready m Product codes and serial numbers of all products in the system W Current firmware version of the controller m Software version of drivers and or2. Nano Positioning PI eG Start Up 2 1 Mounting The M 238 Heavy Duty DC Mike Actuator can be mounted in any orientation M 238 Mikes are intended for front mounting at the 35 mm sleeve using the included nut Mount here Figure 2 Mounting instruction Changing the tips For mounting please be sure to hold both the tip and the spindle of the Mike with suitable open end wrenches to avoid applying torque to internal parts 2 2 Interconnecting the System WARNING 1 M 238 stages are powered by powerful electric motors and can accelerate to high speeds Be aware that automatic limit switch halt may not be supported by or activated at the motor control electronics Be aware that failure of the motor controller may drive the mechanics into a hard stop at high speeds When the mechanics is first connected to the motor controller be aware that it could start an undesired move WWW pi ws M 238 MP 77E Release 1 0 0 Page 9 Start Up WWW pi ws Piezo Nano Positioning PI WARNING CRUSH HAZARD Never put anything where the tip or any connected object could possibly trap it CAUTION Before operating the device make sure that it is correctly mounted fastened to the operating environment Prior to operation read the documentation for the motor controller Read the section about PWM amplifiers p 12 carefully To operate a Mike proceed as follows 1 Install connect the contr
3. amplifier in the motor case This design provides several advantages W Increased efficiency by eliminating power losses between the amplifier and motor m Reduced cost more compact system and improved reliability because no external driver and cabling are required m Elimination of PWM amplifier noise radiation by mounting the amplifier and motor together in a single electrically shielded case Positioning accuracy is assured with either rotary or optical linear encoders Backlash Position error that appears upon reversing direction Backlash is caused by play in the drive train components coming after the encoder such as gearheads or bearings and by friction in the guiding system Unlike hysteresis it can lead to instability in closed loop setups because it causes a deadband in the servo loop Some manufacturers promote controllers with automatic backlash compensation that add the estimated amount of lost motion upon each reversal This solution is very limited in practice as backlash is not constant but varies with temperature deceleration acceleration load leadscrew position direction wear etc Bidirectional Repeatability The accuracy of returning to a position from any position regardless of direction Effects such as hysteresis and backlash affect bidirectional repeatability See also Unidirectional Repeatability DC Servo Motor A direct current motor that is operated in a closed loop system servo loop Char
4. combination with a suitable controller driver ordered separately and software To ensure proper performance of the servo control system the controlling device must be able to read out and process the signals from reference and limit switches and the incremental position encoder Based on their design and realization the M 238 Mikes are intended for single axis positioning adjusting and shifting of loads at various velocities M 238 Mikes can be mounted in any orientation To achieve the specified guiding accuracy the Mikes have to be mounted according to the load specifications given in the technical data tables The Mikes may only be used for applications suitable according to the device specifications Respect the safety instructions given in this User Manual The user is responsible for the correct installation and operation of the M 238 The verification of the technical specifications by the manufacturer does not imply the validation of complete applications In fact the user is responsible for the process validation and the appropriate releases The M 238 is a laboratory apparatus as defined by DIN EN 61010 It meets the following minimum specifications for safe operation any more stringent specifications in the technical data table are of course also met m Indoor use only m Altitude up to 2000 m m Temperature range 5 C to 40 C m Max relative humidity 80 for temperatures up to 31 C decreasing linearly to 50 rel
5. program with a graphic user interface for testing and simple operation and in addition DLL COM and or LabView drivers for users who wish to use custom software If the controller is a PC ISA or PCI card there will also be hardware drivers to install See the controller user and software manuals for installation details M 238 MP 77E Release 1 0 0 Page 14 Troubleshooting Piezo Nano Positioning PI 4 Troubleshooting 4 1 WWW pi ws Diagnosis Positioner does not move Cables not connected properly m Check the connecting cables Check if power supply is connected W Verify that the included MS 500 PS power supply is connected and turned on Mechanics has passed limit switch is outside of allowable travel range W Disconnect the device and try to move it manually If this is not possible please call your local distributor Positioner or positioner cable is defective m Replace positioner with a working positioner of the same type to test a new combination of controller and positioner positioners of a different type may malfunction due to unsuitable parameter settings on the controller Test cable and or replace with a working cable of the syme type Wrong command or wrong syntax m Check the error code with PI GCS command set use ERR see controller and software manuals for the error code explanations Positioner is not referenced m Inthe GCS command set some closed loop motion commands are
6. Description 3 Pulse Width Modulation PWM 28 PWM Amplifiers 10 12 R Range and Transmission Ratio Values 20 Recommended Motor Controllers 25 Reference Switch 13 Rotary Encoder M 238 5PG 13 S Safety Precautions 7 Specifications 19 Start Up 9 T Technical Data 19 Troubleshooting 15 U Unidirectional Repeatability 29 Unpacking 8
7. Piezo Nano Positioning PI MP 77E User Manual M 238 Heavy Duty DC Mike Actuator Release 1 0 0 Date 02 08 2006 This document describes the following product s BH M 238 5PL Heavy Duty DC Mike Actuator Linear Encoder B M 238 5PG Heavy Duty DC Mike Actuator Rotary Encoder Physik Instrumente PI GmbH amp Co KG Auf der R merstr 1 76228 Karlsruhe Germany Tel 49 721 4846 0 Fax 49 721 4846 299 Moving the NanoWorld www pi ws E ud info pi ws www pi ws Physik Instrumente PI GmbH amp Co KG is the owner of the following company names and trademarks PIG ActiveDrive Mercury TM The following designations are protected company names or registered trademarks of third parties Windows Copyright 1999 2006 by Physik Instrumente PI GmbH amp Co KG Karlsruhe Germany The text photographs and drawings in this manual enjoy copyright protection With regard thereto Physik Instrumente PI GmbH amp Co KG reserves all rights Use of said text photographs and drawings is permitted only in part and only upon citation of the source First printing 02 08 2006 Document Number MP 77E BSc Release 1 0 0 M 238 User MP77E doc Subject to change without notice This manual is superseded by any new release The newest release is available for download at www pi ws http www pi ws About this Document Users of this Manual This manual is designed to help the reader to install and operate t
8. RS 232 interface The Windows operating program for the C 862 Mercury controller allows choice of micropositioners as a start up option for operation The C 862 Mercury has the correct operating mode analog or PWM automatically enabled with no extra command required WWW pi ws M 238 MP 77E Release 1 0 0 Page 25 Recommended Motor Controllers Piezo Nano Positioning PI WWW pi ws Appropriate PID Parameters for M 238 5PL Parameter Recommended Minimum Value Maximum Value Value ptem lo 8H item 50 O0 qo dtem tO O0 30 Ese GS Tania i Tao velocity cts 300000 fo 300000 O a Cod Appropriate PID Parameters for M 238 5PG Parameter Recommended Minimum Value Maximum Value Value ptem BO HO term A dtem 1 1 2500 8H List ide Trao T6 a velocity cts s 222000 0 222 000 Heus mm cc acr a e acceleration mmis gt gt E J M 238 MP 77E Release 1 0 0 Page 26 8 Glossary of Terms ActiveDrive DC Motor Some of the advantages of DC motor drives are good dynamic performance fast response high torque at low rpm low heat dissipation and low vibration The cost of a high performance amplifier however is generally higher than that for a stepper motor The ActiveDrive system reduces this cost considerably by integrating a PWM pulse width modulation driver and
9. acteristics of DC servo motors are lack of vibration smooth running wide speed range and very good low speed torque For optimum performance a good motor controller with PID proportional integral derivative algorithm and filter settings is mandatory Design Resolution The theoretical minimum movement that can be made This is a calculated value based on the drive components drive screw pitch gear ratio motor angular resolution etc and does not account for nonlinearities like friction backlash etc Design resolution must not be confused with minimum incremental motion In systems with high gear ratios or microstepping motors the design resolution can be in the subnanometer range In practice incremental motion of less than 0 1 um is prevented by guiding system friction except with air bearings and flexures Maximum Push Pull Force Active and passive force limit in operating direction at center of stage Some stages may be able to generate higher forces at the cost of reduced lifetime Minimum Incremental Motion The minimum motion that can be repeatedly executed for a given input which is sometimes referred to as practical or operational resolution Design resolution and practical resolution must be distinguished Design resolutions of 1 nm or better can be achieved with many motor gearbox and leadscrew combinations In practical applications however stiction friction windup and elastic deformation limit resolution to f
10. ale Position Encoder M 238 5PL An optical linear encoder is mounted in the M 238 5PL Heavy Duty DC Mike Actuator featuring 0 1 um linear resolution Optical linear encoders measure the actual position directly thus eliminating drivetrain errors such as non linearity backlash and elastic deformations 3 6 Motor Controllers WWW pi ws M 238 series micropositioners can be connected to the same motor controllers as other micropositioners from PI DC motor controllers from PI can control both analog and ActiveDrive PWM motor versions The required operating mode is set automatically depending on the controller model either directly when the controller is powered up or when the user chooses the connected positioner type in the control software If networking several positioners you have to keep in mind that stepper motor devices can only be networked with other stepper motor devices This manual includes a list of suitable controllers M 238 MP 77E Release 1 0 0 Page 13 Operational Considerations Piezo Nano Positioning PI 3 7 Host PC WWW pi ws Most controllers from PI are in turn controlled by a host PC provided by the user The controller is either installed directly in the PC e g C 843 PCI board or connected to it over a communications interface See the controller User Manual for details PI provides software and or drivers that run on the host PC to control the system Typically there will be a control
11. ative humidity at 40 C W Line voltage fluctuations not greater than 10 of the line voltage W Transient overvoltages as typical for public power supply Note The nominal level of the transient overvoltage is the standing surge voltage according to the overvoltage category II IEC 60364 4 443 m Degree of pollution 2 WWW pi ws M 238 MP 77E Release 1 0 0 Page 6 Introduction Piezo Nano Positioning PI 7 3 Safety Precautions WWW pi ws Read carefully the User Manuals of all other components involved such as controllers or software Read the following before operating the equipment covered in this manual CAUTION Read this before operating the equipment covered in this manual Always keep the User Manual safe and close to the described device In case of loss or or damage to the instructions please order a new copy from your PI distributor Also keep and add all further information e g extended instructions or Technical Notes to the User Manual WARNING CRUSH HAZARD Never put anything where the tip or any connected object could possibly trap it WARNING M 238 stages are powered by powerful electric motors and can accelerate to high speeds Be aware that automatic limit switch halt may not be supported by or activated at the motor control electronics Be aware that failure of the motor controller may drive the mechanics into a hard stop at high speeds When the mechanics is first connected to the moto
12. bel ete E EE eta nada T 8 15 Unpacking TTT 8 Start Up 9 24 MQUMINO cosas maga tirer rene teed A iaie pred ei EEE defensus 9 22 Interconnecting the System eee eee 9 Operational Considerations 12 31 PWM Amplifiers Hm 12 H Tae u eT TT 12 33 Reference Switch ee 13 34 Rotary Encoder M 238 DP G eee 13 35 Linear Scale Position Encoder M 238 5PL sssssss 13 36 Motor Controllers enne 13 S Host PO andei do Dre a a tent 14 Troubleshooting 15 A Diagnosi Siae deii sa a a AA A 15 42 Customer Service ccccccccccccceccccecccecccecccecececeeecceneceeeceeeceneeneeenaes 17 Maintenance 18 Technical Data 19 61 Specifications HT 19 62 Range and Transmission Ratio Values eee eee eee ee 20 63 Dimensions reed eui t ple ede rre ree e bae A 21 64 Connector Pin Assignment ecccceeeeeeeeeeeeecceeeeeeeeeeneeeneeeees 23 Recommended Motor Controllers 25 8 9 Glossary of Terms Index 27 31 Introduction Piezo Nano Positioning PI 1 Introduction 1 1 Product Description Figure 1 M 238 5PL Heavy Duty Mike actuator with CD for size comparison m High Load Capacity to 400 N W Optional 0 1 um Direct Metrology Linear Encoder for Exceptional Precision EH Travel Range 50 mm B Resolution to 0 1 um m Max Velocity 30 mm s m Preloaded Frictionless Ball Screw m MTBF gt 20 000 h m Vacuum Compatible Versions Available for 10 hPa www
13. ether in a single electrically shielded case Non Rotating Tip Compared to conventional rotating tip micrometer drives the non rotating tip design offers several advantages m Elimination of torque induced positioning errors E Elimination of sinusoidal motion errors WWW pi ws M 238 MP 77E Release 1 0 0 Page 4 Introduction WWW pi ws Piezo Nano Positioning PI W Elimination of wear at the contact point W Elimination of tip angle dependent wobble The lateral guiding of the tip withstands lateral forces of up to 100 N Ballscrews for High Speed Precision and Lifetime The precision ground ballscrew is maintenance free and preloaded to eliminate mechanical play Its significantly reduced friction compared to conventional leadscrews allows for higher velocity lower power consumption and longer lifetime The M 238 is therefore well suited for high duty cycle operation in industrial environments Limit and Reference Switches For the protection of your equipment non contact Hall effect limit and reference switches are installed The direction sensing reference switch supports advanced automation applications with high precision Notes Please note that in this manual the following product names are used synonymously DC Mike positioner linear actuator M 238 MP 77E Release 1 0 0 Page 5 Introduction Piezo Nano Positioning PI 7 2 Prescribed Use Correct operation of the M 238 Mikes is only possible in
14. he M 238 Heavy Duty DC Mike Actuator It assumes that the reader has a fundamental understanding of basic servo systems as well as motion control concepts and applicable safety procedures The manual describes the physical specifications and dimensions of the M 238 Heavy Duty DC Mike Actuator as well as the procedures which are required to put the associated motion system into operation Conventions The notes and symbols used in this manual have the following meanings WARNING Calls attention to a procedure practice or condition which if not correctly performed or adhered to could result in injury or death CAUTION Calls attention to a procedure practice or condition which if not correctly performed or adhered to could result in damage to equipment NOTE Provides additional information or application hints The motion controller and the software tools which might be mentioned within this documentation are described in their own manuals All documents are available on the respective product CD Current releases can be downloaded from the PI Website as PDF files www pi ws http www pi ws obtained from your Physik Instrumente sales engineer or from info pi ws mailto info pi ws Contents Introduction 3 11 Seis lie die esei le eR rt eie rere eva d 3 12 Prescribed a E E E E Geneccenecosscecustceiseashisceadeahidaaccts 6 13 Safety PIECAMILION Sy srera n tU AREE E ATA A ATASE Eiaa 7 T4 Model S NEY irii in ue
15. host software m Operating system on host PC WWW pi ws M 238 MP 77E Release 1 0 0 Page 17 Maintenance Piezo Nano Positioning PI E Maintenance The actuator is designed for protection class IP4x When operated in this environment no maintenance is required If the actuator must be operated in extremely dusty or humid environments we recommend to contact your PI sales engineer WWW pi ws M 238 MP 77E Release 1 0 0 Page 18 PI Technical Data Piezo Nano Positioning 6 Technical Data 6 1 Specifications Models M 238 5PG M 238 5PL Unit Tolerance Active axes X X Motion and Positioning Travel range 50 50 mm Integrated sensor Rotary Encoder Linear Encoder Sensor resolution 4000 cts rev 0 1um Design resolution 0 13 0 1 um typ Min incremental 0 5 0 3 um typ motion Backlash 3 1 um typ Unidirectional 1 0 3 um typ repeatability Max velocity 30 30 mm s Origin repeatability 1 1 um 20 Mechanical Properties Spindle pitch 2 2 mm rev Gear ratio 3 71 1 3 71 1 Push pull force 400 400 N max Lateral force 100 100 N max Drive properties Motor type DC motor DC motor ActiveDrive ActiveDrive Operating voltage 24 PWM 24 PWM V Electrical power 80 80 Ww nominal WWW pi ws M 238 MP 77E Release 1 0 0 Page 19 Technical Data Miscellaneous Operating temperature 10 to 50 range Material Al anodized steel Weight 2 4 Cable length 3 Connector Sub D 15m Recommended C 862 C 843 Controller Piezo Na
16. ignal output TTL level Sink source capab 20 mA at 18 C Signal logic Active high normal motor operation low limit sensor reached high M 238 MP 77E Release 1 0 0 Page 12 Operational Considerations Piezo Nano Positioning PI 3 3 Reference Switch The M 238 Heavy Duty DC Mike Actuator equipped with a direction sensing Hall effect reference switch which is located at about the midpoint of the travel range This sensor provides a TTL signal indicating whether the positioner is to the positive or negative side of a fixed point The rising or falling edge of this signal can be used to indicate a known reference position within 0 5 um accuracy depending on the controller The difference in the reference point when approached from the positive or the negative side is about 0 2 mm to 0 4 mm See the controller User Manual and or associated software manuals for the commands which make use of the reference signal 3 4 Rotary Encoder M 238 5PG The M 238 5PG is equipped with a DC motor with a shaft mounted position encoder It provides highly accurate signals whenever the position changes by a known small amount By monitoring the encoder pulses called counts the controller can keep track of the relative motion of the stage To discover the absolute position it is necessary to drive the stage to a limit or reference switch Most controllers have commands to automate this procedure which is called referencing 3 5 Linear Sc
17. nnector Type 3 pin round socket 1 GND power 2 Voltage input 24 V 3 V WWW pi ws M 238 MP 77E Release 1 0 0 Page 24 Recommended Motor Controllers Piezo Nano Positioning PI 7 Recommended Motor Controllers Each motorized device in the motion system must be connected to a motion controller The controller is either networked with or installed in a PC controller setup and or operation is thus effectuated with software The M 238 Heavy Duty DC Mike Actuator can be used with C 843 Motor Controller Card or C 862 Mercury Controller Drive type DC Motor Controller C 862 Mercury C 843 motor controller card Axes per controller ee 4 Fer el Host PC interface RS 232 bus or RR chain Internal GL RM bus Multiple controllers on yes same or separate ports yes separate slots same host PC NOTE Most standard controllers and or software from PI use a DAT file which contains information on all standard micropositioners and installs automatically with the host software This file called pistages dat also includes an initial set of PID servo control parameters for each stage type If your system does not use pistages dat possible PID parameters are included in this manual Parameter settings for C 862 Mercury DC Motor Controller The C 862 Mercury Controller is a compact palm size single axis controller C 862s are daisy chain networkable and a multi axis system can be controlled from a single PC
18. no Positioning 10 to 50 Al anodized steel 2 4 Sub D 15m C 862 C 843 PI C kg 5 10 mm WWW pi ws Range and Transmission Ratio Values Range mm Range cts Transmission Ratio M 238 5PL 500 000 10 cts um M 238 5PG 371428 7 4285714 cts um M 238 MP 77E Release 1 0 0 Page 20 PI Piezo Nano Positioning Technical Data 6 3 Dimensions All dimensions are given in mm decimal places separated by commas in drawings 1244 E 67 6 63 9 was Figure 3 M 238 5PG 1134 E 90 63 6 Figure 4 M 238 5PL www pi ws M 238 MP 77E Release 1 0 0 Page 21 Technical Data Piezo Nano Positioning PI Figure 5 Flat tip ball tip Figure 6 Ball tip WWW pi ws M 238 MP 77E Release 1 0 0 Page 22 Piezo Nano Positioning PI Technical Data 6 4 Connector Pin Assignments Connector J 2 Controller Connection Connector type on positioner D Sub15m brake 5 V to 12 V L 3 ne wxcmmeded E ns Reemi 10 Ground Power E v input Ving or encoder and gio s ND round fogs E BO 7 Encoder signal B dash TTL www pi ws M 238 MP 77E Release 1 0 0 Page 23 Technical Data Piezo Nano Positioning PI Connector J 1 Power Supply Figure 7 3 pin power supply co
19. oller following the instructions in the controller manual If you are using a host computer install the host software in the host computer The procedure is described in the controller User Manual and or associated software manuals 2 Connect the Mike to the controller using the connecting cable included as part number C 815 38 which comes with the Mike With multi axis controllers be sure to note the axis designation of the connection selected 3 Connect the Mike to the included M 500 PS power supply and connect the power supply to line power wide range To activate the M 500 PS power supply switch the o rocker to the position 4 Command a few test moves to make sure th system is working properly If your controller comes with graphic user interface software use it for such testing 5 Extend the tip by commanding positive directions retract it by commanding negative directions For optimal performance and system compatiblity we recommend using PI controllers Most PI controllers come with graphic user interface software which is easy to set up and allows quick installation and testing M 238 MP 77E Release 1 0 0 Page 10 Start Up Piezo Nano Positioning PI NOTE Most standard controllers and or software from PI use a DAT file which contains information on all standard micropositioners and installs automatically with the host software This file called pistages dat also includes an initial set of PID servo con
20. pi ws M 238 MP 77E Release 1 0 0 Page 3 Introduction Piezo Nano Positioning PI The M 238 is a high load high precision actuator providing linear motion up to 50 mm a load capacity to 400 N and high velocity to 30 mm s It consists of a low friction heavy duty ballscrew driven by a closed loop ActiveDrive DC motor with gearbox An optional linear encoder provides exceptional accuracy and repeatability Direct Metrology Linear Encoder to Compensate Mechanical Play The M 238 5PL model is equipped with a non contact optical linear encoder direct metrology with an output resolution of 0 1 um Because the encoder measures the actual position of the non rotating actuator tip drive train errors like backlash and elastic deformations are eliminated A lower cost version with a rotary encoder is available as model number M 238 5PG ActiveDrive DC Motor DC motor drives offer several advantages such as high dynamics high torque at low rotational speed low heat and low vibration The ActiveDrive design developed by PI features a high efficiency PWM pulse width modulation servo amplifier mounted side by side with the DC motor and offers several advantages m Increased efficiency by eliminating power losses between the amplifier and motor m Reduced cost of ownership and improved reliability because no external driver is required W Elimination of PWM amplifier noise radiation by mounting the amplifier and motor tog
21. r controller be aware that it could start an undesired move CAUTION Do not let the mike run into the hard stop Due to the high power of the motor and the high speed that can be achieved crashing can damage the gear head and or the whole actuator M 238 MP 77E Release 1 0 0 Page 7 A A Piezo Nano Positioning PI Introduction 1 4 Model Survey The M 238 Heavy Duty DC Mike Actuator is available in 2 versions that differ only in terms of the position encoder as listed in the table below For further specifications see the Technical Data section Model Description M 238 5PG Heavy Duty DC Mike Actuator 400 N 50 mm ActiveDrive M 238 5PL Heavy Duty DC Mike Actuator 400 N 50 mm ActiveDrive Direct Metrology Encoder 1 5 Unpacking Unpack the M 238 Heavy Duty DC Mike Actuator with care Compare the contents against the items covered by the contract and against the packing ih following components are included m M 238 Heavy Duty DC Mike Actuator with ball tip and flat tip m C 815 38 motor cable for connecting to motor controller 3 m sub D 15 pin m f m M 500 PS power supply with line cord W User manual for M 238 in printed form this document Inspect the contents for signs of damage If parts are missing or you notice signs of damage contact Pl immediately Save all packing materials in case the product need be shipped again WWW pi ws M 238 MP 77E Release 1 0 0 Page 8 Start Up Piezo
22. ractions of a micron Minimum incremental motion must be determined by actual measurements Repeatable nanometer or sub nanometer resolution can be provided by solid state actuators PZTs and PZT flexure stages see the PZT Flexure NanoPositioners and PZT Actuators sections of the PI Catalog for details such as those integrated in PI s M 511 HD and M 714 Hybrid Drive stages Pulse Width Modulation PWM The PWM mode is a highly effective method of transmitting electrical energy at a variable rate by varying the width of pulses in a train rather than the amplitude of an analog signal Unidirectional Repeatability The accuracy of returning to a given position from the same direction Because unidirectional repeatability is almost unaffected by backlash and hysteresis it is often considerably better than bidirectional repeatability Index A ActiveDrive DC Motor 27 B Backlash 27 Bidirectional Repeatability 27 C Connector Pin Assignments 23 Customer Service 17 D DC Servo Motor 28 Design Resolution 28 Diagnosis 15 Dimensions 21 H Host PC 14 Interconnecting the System 9 Introduction 3 L Limit Switches 12 Linear Scale Position Encoder M 238 5PL 13 M Maintenance 18 Maximum Push Pull Force 28 Minimum Incremental Motion 28 Model Survey 8 Motor Controllers 13 Mounting 9 O Operational Considerations 12 P Prescribed Use 6 Product
23. trol parameters for each stage type Ifyour system does not use pistages dat possible PID parameters are included in this manual WWW pi ws M 238 MP 77E Release 1 0 0 Page 11 Operational Considerations Piezo Nano Positioning PI 3 Operational Considerations 3 1 PWM Amplifiers The M 238 Heavy Duty DC Mike Actuator feature a DC servo motor with a high efficiency PWM amplifier mounted side by side This ActiveDrive system provides maximum dynamic performance An external plug in power supply M 500 PS is provided to supply the built in amplifier This architecture allows high torque and high velocities while loading the motor controller with control signals only 3 2 WWW pi ws Limit Switches All M 238 positioners are equipped with non contact Hall effect limit switches with TTL drivers Each limit switch sends an overtravel signal on its own dedicated line to the controller It is the controller that is then responsible for stopping the motion If it does not do so in time the positioner will run into the hard stop Limit switch outputs are active high CAUTION Crashes can cause irreparable damage Do not disable limit switches in software Test limit switch operation at low speeds Stop system if necessary Do not let it run against a hard stop Limit Switch Specifications Type Magnetic Hall effect sensors Supply voltage 5 V GND supplied by the motor controller through the motor connector S
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